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<div class="title">PxRigidActorExt.h</div>  </div>
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<a href="PxRigidActorExt_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysics_8h.html">PxPhysics.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxRigidActor_8h.html">PxRigidActor.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classPxRigidActorExt.html">   52</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxRigidActorExt.html">PxRigidActorExt</a></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classPxRigidActorExt.html#ae708f5ca3fc5f1ce3db14032a89f62b9">   86</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="classPxShape.html">PxShape</a>* <a class="code" href="classPxRigidActorExt.html#ae708f5ca3fc5f1ce3db14032a89f62b9">createExclusiveShape</a>(<a class="code" href="classPxRigidActor.html">PxRigidActor</a>&amp; actor, <span class="keyword">const</span> <a class="code" href="classPxGeometry.html">PxGeometry</a>&amp; <a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>, <a class="code" href="classPxMaterial.html">PxMaterial</a>*<span class="keyword">const</span>* materials, <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> materialCount, </div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                         <a class="code" href="classPxFlags.html">PxShapeFlags</a> shapeFlags = <a class="code" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aa1b3a6f33eb84ee2dc74eac63aa86f2a4">PxShapeFlag::eVISUALIZATION</a> | <a class="code" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aabc7ec24b00ed57f3914482f0706c6273">PxShapeFlag::eSCENE_QUERY_SHAPE</a> | <a class="code" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aa7fa4fea0eecda9cc80a7aaa11a22df52">PxShapeFlag::eSIMULATION_SHAPE</a>)</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classPxShape.html">PxShape</a>* shape = <a class="code" href="group__physics.html#ga824f991be62d7c28eadf32316562408f">PxGetPhysics</a>().createShape(<a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>, materials, materialCount, <span class="keyword">true</span>, shapeFlags);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordflow">if</span>(shape)</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            <span class="keywordtype">bool</span> status = actor.<a class="code" href="classPxRigidActor.html#a022e098ea67bc8ec87f93c2f18a4db6f">attachShape</a>(*shape);    <span class="comment">// attach can fail, if e.g. we try and attach a trimesh simulation shape to a dynamic actor</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            shape-&gt;<a class="code" href="classPxShape.html#a165dc6eaf5c58997b90b06176220be37">release</a>();       <span class="comment">// if attach fails, we hold the only counted reference, and so this cleans up properly</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            <span class="keywordflow">if</span>(!status)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                shape = NULL;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordflow">return</span> shape;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    </div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classPxRigidActorExt.html#a83136f2febcf60ac70f9da3664d1880f">  129</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a>  <a class="code" href="classPxShape.html">PxShape</a>*    <a class="code" href="classPxRigidActorExt.html#a83136f2febcf60ac70f9da3664d1880f">createExclusiveShape</a>(<a class="code" href="classPxRigidActor.html">PxRigidActor</a>&amp; actor, <span class="keyword">const</span> <a class="code" href="classPxGeometry.html">PxGeometry</a>&amp; <a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>, <span class="keyword">const</span> <a class="code" href="classPxMaterial.html">PxMaterial</a>&amp; material, </div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                                                             <a class="code" href="classPxFlags.html">PxShapeFlags</a> shapeFlags = <a class="code" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aa1b3a6f33eb84ee2dc74eac63aa86f2a4">PxShapeFlag::eVISUALIZATION</a> | <a class="code" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aabc7ec24b00ed57f3914482f0706c6273">PxShapeFlag::eSCENE_QUERY_SHAPE</a> | <a class="code" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aa7fa4fea0eecda9cc80a7aaa11a22df52">PxShapeFlag::eSIMULATION_SHAPE</a>)</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="classPxMaterial.html">PxMaterial</a>* materialPtr = <span class="keyword">const_cast&lt;</span><a class="code" href="classPxMaterial.html">PxMaterial</a>*<span class="keyword">&gt;</span>(&amp;material);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordflow">return</span> createExclusiveShape(actor, <a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>, &amp;materialPtr, 1, shapeFlags);</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">static</span> <a class="code" href="classPxBounds3.html">PxBounds3</a>*                   getRigidActorShapeLocalBoundsList(<span class="keyword">const</span> <a class="code" href="classPxRigidActor.html">PxRigidActor</a>&amp; actor, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&amp; numBounds);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;};</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="classPxRigidActor_html_a022e098ea67bc8ec87f93c2f18a4db6f"><div class="ttname"><a href="classPxRigidActor.html#a022e098ea67bc8ec87f93c2f18a4db6f">PxRigidActor::attachShape</a></div><div class="ttdeci">virtual bool attachShape(PxShape &amp;shape)=0</div></div>
<div class="ttc" id="classPxRigidActorExt_html"><div class="ttname"><a href="classPxRigidActorExt.html">PxRigidActorExt</a></div><div class="ttdoc">utility functions for use with PxRigidActor and subclasses </div><div class="ttdef"><b>Definition:</b> PxRigidActorExt.h:52</div></div>
<div class="ttc" id="classPxShape_html"><div class="ttname"><a href="classPxShape.html">PxShape</a></div><div class="ttdoc">Abstract class for collision shapes. </div><div class="ttdef"><b>Definition:</b> PxShape.h:142</div></div>
<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</div></div>
<div class="ttc" id="PxRigidActor_8h_html"><div class="ttname"><a href="PxRigidActor_8h.html">PxRigidActor.h</a></div></div>
<div class="ttc" id="classPxGeometry_html"><div class="ttname"><a href="classPxGeometry.html">PxGeometry</a></div><div class="ttdoc">A geometry object. </div><div class="ttdef"><b>Definition:</b> PxGeometry.h:75</div></div>
<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
<div class="ttc" id="structPxShapeFlag_html_a6edb481aaa3a998c5d6dd3fc4ad87f1aa7fa4fea0eecda9cc80a7aaa11a22df52"><div class="ttname"><a href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aa7fa4fea0eecda9cc80a7aaa11a22df52">PxShapeFlag::eSIMULATION_SHAPE</a></div><div class="ttdoc">The shape will partake in collision in the physical simulation. </div><div class="ttdef"><b>Definition:</b> PxShape.h:79</div></div>
<div class="ttc" id="classPxRigidActor_html"><div class="ttname"><a href="classPxRigidActor.html">PxRigidActor</a></div><div class="ttdoc">PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SD...</div><div class="ttdef"><b>Definition:</b> PxRigidActor.h:58</div></div>
<div class="ttc" id="structPxShapeFlag_html_a6edb481aaa3a998c5d6dd3fc4ad87f1aabc7ec24b00ed57f3914482f0706c6273"><div class="ttname"><a href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aabc7ec24b00ed57f3914482f0706c6273">PxShapeFlag::eSCENE_QUERY_SHAPE</a></div><div class="ttdoc">The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...). </div><div class="ttdef"><b>Definition:</b> PxShape.h:84</div></div>
<div class="ttc" id="PxGeometryHelpers_8h_html_aa55209c75b105f03f459417b08801e69"><div class="ttname"><a href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a></div><div class="ttdeci">PxU8 geometry[sizeof(PxGeometry)]</div><div class="ttdef"><b>Definition:</b> PxGeometryHelpers.h:215</div></div>
<div class="ttc" id="PxPhysics_8h_html"><div class="ttname"><a href="PxPhysics_8h.html">PxPhysics.h</a></div></div>
<div class="ttc" id="structPxShapeFlag_html_a6edb481aaa3a998c5d6dd3fc4ad87f1aa1b3a6f33eb84ee2dc74eac63aa86f2a4"><div class="ttname"><a href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aa1b3a6f33eb84ee2dc74eac63aa86f2a4">PxShapeFlag::eVISUALIZATION</a></div><div class="ttdoc">Enable debug renderer for this shape. </div><div class="ttdef"><b>Definition:</b> PxShape.h:113</div></div>
<div class="ttc" id="classPxBounds3_html"><div class="ttname"><a href="classPxBounds3.html">PxBounds3</a></div><div class="ttdoc">Class representing 3D range or axis aligned bounding box. </div><div class="ttdef"><b>Definition:</b> PxBounds3.h:58</div></div>
<div class="ttc" id="classPxRigidActorExt_html_ae708f5ca3fc5f1ce3db14032a89f62b9"><div class="ttname"><a href="classPxRigidActorExt.html#ae708f5ca3fc5f1ce3db14032a89f62b9">PxRigidActorExt::createExclusiveShape</a></div><div class="ttdeci">static PxShape * createExclusiveShape(PxRigidActor &amp;actor, const PxGeometry &amp;geometry, PxMaterial *const *materials, PxU16 materialCount, PxShapeFlags shapeFlags=PxShapeFlag::eVISUALIZATION|PxShapeFlag::eSCENE_QUERY_SHAPE|PxShapeFlag::eSIMULATION_SHAPE)</div><div class="ttdoc">Creates a new shape with default properties and a list of materials and adds it to the list of shapes...</div><div class="ttdef"><b>Definition:</b> PxRigidActorExt.h:86</div></div>
<div class="ttc" id="classPxRigidActorExt_html_a83136f2febcf60ac70f9da3664d1880f"><div class="ttname"><a href="classPxRigidActorExt.html#a83136f2febcf60ac70f9da3664d1880f">PxRigidActorExt::createExclusiveShape</a></div><div class="ttdeci">static PX_FORCE_INLINE PxShape * createExclusiveShape(PxRigidActor &amp;actor, const PxGeometry &amp;geometry, const PxMaterial &amp;material, PxShapeFlags shapeFlags=PxShapeFlag::eVISUALIZATION|PxShapeFlag::eSCENE_QUERY_SHAPE|PxShapeFlag::eSIMULATION_SHAPE)</div><div class="ttdoc">Creates a new shape with default properties and a single material adds it to the list of shapes of th...</div><div class="ttdef"><b>Definition:</b> PxRigidActorExt.h:129</div></div>
<div class="ttc" id="classPxMaterial_html"><div class="ttname"><a href="classPxMaterial.html">PxMaterial</a></div><div class="ttdoc">Material class to represent a set of surface properties. </div><div class="ttdef"><b>Definition:</b> PxMaterial.h:143</div></div>
<div class="ttc" id="group__physics_html_ga824f991be62d7c28eadf32316562408f"><div class="ttname"><a href="group__physics.html#ga824f991be62d7c28eadf32316562408f">PxGetPhysics</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API physx::PxPhysics &amp;PX_CALL_CONV PxGetPhysics()</div><div class="ttdoc">Retrieves the Physics SDK after it has been created. </div></div>
<div class="ttc" id="classPxShape_html_a165dc6eaf5c58997b90b06176220be37"><div class="ttname"><a href="classPxShape.html#a165dc6eaf5c58997b90b06176220be37">PxShape::release</a></div><div class="ttdeci">virtual void release()=0</div><div class="ttdoc">Decrements the reference count of a shape and releases it if the new reference count is zero...</div></div>
<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags</a></div><div class="ttdoc">Container for bitfield flag variables associated with a specific enum type. </div><div class="ttdef"><b>Definition:</b> PxFlags.h:73</div></div>
<div class="ttc" id="namespacephysx_html_a9caf1cbcda071b6d2a9c069faa99da23"><div class="ttname"><a href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">physx::PxU16</a></div><div class="ttdeci">uint16_t PxU16</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:73</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
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